期刊
SCIENCE CHINA-INFORMATION SCIENCES
卷 64, 期 1, 页码 -出版社
SCIENCE PRESS
DOI: 10.1007/s11432-019-2756-3
关键词
car-following control; road-slope approximation; hierarchical design; linear quadratic regulator; intelligent vehicle
资金
- China Automobile Industry Innovation and Development Joint Fund [U1664257, U1864206]
- National Natural Science Foundation of China [61903153]
- Postdoctoral Science Foundation of China [2018M641779]
This study proposes a hierarchical design of optimal car-following control system, which splits the system into high-level and low-level subsystems to address issues such as preceding vehicle acceleration disturbance and road slope. The performance of the proposed optimal control scheme is evaluated through simulation and real-vehicle experiments, showing superior car-following performance compared to a factory-installed adaptive cruise controller.
The design of a car-following control system is a multiobjective optimization problem that involves issues in rider safety, ride comfort, and fuel economy. This study proposes a hierarchical design of optimal car-following control where the system is intuitively split into two subsystems with different dynamic properties. Specifically, the high-level subsystem is a linear car-following system with a measurable disturbance of the preceding vehicle's acceleration, while the low-level subsystem is a nonlinear acceleration-tracking system with an unmeasurable road slope. In the design of optimal car-following control, the measurable disturbance of the preceding vehicle's acceleration is considered from a theoretical perspective, and the unmeasurable road slope is estimated by a novel engineering-oriented approximation method to reduce the influence of driveline oscillation. The performance of the proposed optimal control scheme is evaluated through simulation and real-vehicle experiments, which show that the proposed control algorithm provides a satisfactory road-slope approximation accuracy and that the car-following performance of the proposed optimal control system is better than that of a factory-installed adaptive cruise controller.
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